WEKO3
アイテム
{"_buckets": {"deposit": "6a9af24e-0fb7-4844-b390-c4f009ab5792"}, "_deposit": {"created_by": 3, "id": "5388", "owners": [3], "pid": {"revision_id": 0, "type": "depid", "value": "5388"}, "status": "published"}, "_oai": {"id": "oai:nitech.repo.nii.ac.jp:00005388", "sets": ["31"]}, "author_link": ["18745", "15717", "18681", "18744"], "item_10001_alternative_title_24": {"attribute_name": "その他(別言語等)のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "チョウヤク ロボット ノタメノ ヒタイショウガタ ヘイループ ジュウナン カタパルト"}, {"subitem_alternative_title": "Asymmetric Robotic Catapults based on the Closed Elastica for Jumping Robot"}]}, "item_10001_biblio_info_28": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2008-05-15", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "4", "bibliographicPageEnd": "371", "bibliographicPageStart": "363", "bibliographicVolumeNumber": "26", "bibliographic_titles": [{"bibliographic_title": "日本ロボット学会誌"}]}]}, "item_10001_description_36": {"attribute_name": "内容記述", "attribute_value_mlt": [{"subitem_description": "In this paper, we propose new asymmetric robotic catapults based on the closed elastica. The conventional robotic catapults based on the closed elastica the authors developed are the robotic elements for generating impulsive motions by utilizing the snap-through buckling. In a typical closed elastic catapult, the two ends of an elastic strip are fixed to a passive rotational joint and an active rotational joint, respectively. Here, we found that we could obtain higher impulsive motions by adding the range limitation to a passive rotational joint which makes the shape of the elastic strip just before snap-through buckling complicated. The range limitation leads to storing the higher elastic energy for an impulsive motion without changing the actuator of the active joint. We show the results of theoretical analysis and numerical simulations which support the effectiveness of the proposed robotic catapults. We also show that the jumping robot with the asymmetric robotic catapult achieves high performance.", "subitem_description_type": "Other"}]}, "item_10001_description_38": {"attribute_name": "フォーマット", "attribute_value_mlt": [{"subitem_description": "application/pdf", "subitem_description_type": "Other"}]}, "item_10001_full_name_27": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "18681", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Yamada, Atsushi"}]}, {"nameIdentifiers": [{"nameIdentifier": "15717", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Fujimoto, Hideo"}]}]}, "item_10001_publisher_29": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "社団法人 日本ロボット学会"}]}, "item_10001_source_id_30": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "02891824", "subitem_source_identifier_type": "ISSN"}]}, "item_10001_source_id_32": {"attribute_name": "書誌レコードID(NCID)", "attribute_value_mlt": [{"subitem_source_identifier": "AN00141189", "subitem_source_identifier_type": "NCID"}]}, "item_10001_version_type_33": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_version_resource": "http://purl.org/coar/version/c_970fb48d4fbd8a85", "subitem_version_type": "VoR"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "山田, 篤史"}, {"creatorName": "ヤマダ, アツシ", "creatorNameLang": "ja-Kana"}], "nameIdentifiers": [{"nameIdentifier": "18681", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "渡, 正充"}], "nameIdentifiers": [{"nameIdentifier": "18744", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "望山, 洋"}], "nameIdentifiers": [{"nameIdentifier": "18745", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "藤本, 英雄"}], "nameIdentifiers": [{"nameIdentifier": "15717", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2017-01-25"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "RSJ26_363.pdf", "filesize": [{"value": "8.6 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensefree": "Copyright 社団法人 日本ロボット学会", "licensetype": "license_free", "mimetype": "application/pdf", "size": 8600000.0, "url": {"label": "本文_fulltext", "url": "https://nitech.repo.nii.ac.jp/record/5388/files/RSJ26_363.pdf"}, "version_id": "1dd96e72-cb85-4b6d-a7f3-a09bcce1097b"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "jpn"}]}, "item_resource_type": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "跳躍ロボットのための非対称型閉ループ柔軟カタパルト", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "跳躍ロボットのための非対称型閉ループ柔軟カタパルト"}]}, "item_type_id": "10001", "owner": "3", "path": ["31"], "permalink_uri": "https://nitech.repo.nii.ac.jp/records/5388", "pubdate": {"attribute_name": "公開日", "attribute_value": "2013-06-25"}, "publish_date": "2013-06-25", "publish_status": "0", "recid": "5388", "relation": {}, "relation_version_is_last": true, "title": ["跳躍ロボットのための非対称型閉ループ柔軟カタパルト"], "weko_shared_id": -1}
跳躍ロボットのための非対称型閉ループ柔軟カタパルト
https://nitech.repo.nii.ac.jp/records/5388
https://nitech.repo.nii.ac.jp/records/5388f2c90af9-147b-4f4f-a410-cd204eb60fd4
名前 / ファイル | ライセンス | アクション |
---|---|---|
本文_fulltext (8.6 MB)
|
Copyright 社団法人 日本ロボット学会
|
Item type | 学術雑誌論文 / Journal Article(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2013-06-25 | |||||
タイトル | ||||||
タイトル | 跳躍ロボットのための非対称型閉ループ柔軟カタパルト | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
その他(別言語等)のタイトル | ||||||
その他のタイトル | チョウヤク ロボット ノタメノ ヒタイショウガタ ヘイループ ジュウナン カタパルト | |||||
その他(別言語等)のタイトル | ||||||
その他のタイトル | Asymmetric Robotic Catapults based on the Closed Elastica for Jumping Robot | |||||
著者 |
山田, 篤史
× 山田, 篤史× 渡, 正充× 望山, 洋× 藤本, 英雄 |
|||||
著者別名 | ||||||
姓名 | Yamada, Atsushi | |||||
著者別名 | ||||||
姓名 | Fujimoto, Hideo | |||||
書誌情報 |
日本ロボット学会誌 巻 26, 号 4, p. 363-371, 発行日 2008-05-15 |
|||||
出版者 | ||||||
出版者 | 社団法人 日本ロボット学会 | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID(NCID) | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | In this paper, we propose new asymmetric robotic catapults based on the closed elastica. The conventional robotic catapults based on the closed elastica the authors developed are the robotic elements for generating impulsive motions by utilizing the snap-through buckling. In a typical closed elastic catapult, the two ends of an elastic strip are fixed to a passive rotational joint and an active rotational joint, respectively. Here, we found that we could obtain higher impulsive motions by adding the range limitation to a passive rotational joint which makes the shape of the elastic strip just before snap-through buckling complicated. The range limitation leads to storing the higher elastic energy for an impulsive motion without changing the actuator of the active joint. We show the results of theoretical analysis and numerical simulations which support the effectiveness of the proposed robotic catapults. We also show that the jumping robot with the asymmetric robotic catapult achieves high performance. | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf |